(19)
(11) EP 1 521 146 A3

(12) EUROPEAN PATENT APPLICATION

(88) Date of publication A3:
19.04.2006 Bulletin 2006/16

(43) Date of publication A2:
06.04.2005 Bulletin 2005/14

(21) Application number: 04023592.1

(22) Date of filing: 01.10.2004
(51) International Patent Classification (IPC): 
B60T 8/00(2006.01)
(84) Designated Contracting States:
AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PL PT RO SE SI SK TR
Designated Extension States:
AL HR LT LV MK

(30) Priority: 02.10.2003 JP 2003344744

(71) Applicant: TOYODA KOKI KABUSHIKI KAISHA
Kariya-shi, Aichi-ken (JP)

(72) Inventors:
  • Ohta, Takayuki Toyoda Koki K.K.
    Kariya-shi Aichi-ken (JP)
  • Momiyama, Minekazu Toyoda Koki K.K.
    Kariya-shi Aichi-ken (JP)
  • Kato, Hiroaki Toyoda Koki K.K.
    Kariya-shi Aichi-ken (JP)
  • Kodama, Akira Toyoda Koki K.K.
    Kariya-shi Aichi-ken (JP)

(74) Representative: TBK-Patent 
Bavariaring 4-6
80336 München
80336 München (DE)

   


(54) Integrated control apparatus for vehicle


(57) In a vehicle of a four-wheel independent steering type, an electronic control unit calculates a target yaw rate in accordance with a vehicle speed and a steering angle, and calculates a vehicle-control target value on the basis of the target yaw rate and an actual yaw rate. The electronic control unit estimates the grip factors of the individual wheels to road surface, and sets a distribution ratio for distribution of the vehicle-control target value among actuators of a steering system, a brake system, and a drive system in accordance with the estimated grip factors. The electronic control unit controls the actuators of the three systems in accordance with control instruction values determined on the basis of the vehicle-control target value and the distribution ratio.







Search report